• 한국정밀공학회지
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• 제19권10호
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• pp.120-129
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• 2002

An integrated structure and controller design approach for rotating cantilever beam is presented. An optimization method is developed for improving positioning performance considering the elastic deformations during high speed rotation and adopting the beam shape and the control gains as design variables. For this end, a dynamic model is setup by the finite element method according to the shape of the beam. The mass and stiffness of the beam are distributed in such a way that the closed-loop poles of the control system should be located leftmost in the complex s-plane. For optimization method, the simulated annealing method is employed which has higher probability to find the global minimum than the gradient-based down-hill methods. Sequential design and simultaneous design methods are proposed to obtain the optimal shape and controller. Simulations are performed with new designs by the two methods to verify the effectiveness of the approach and the results show that the settling time is improved for point-to-point position controls.

• 대한기계학회논문집A
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• 제20권9호
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• pp.2812-2818
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• 1996

A cantilever beam with a mass and a spring at the end can be use to model a miniature flexible arm. It is necessary to know the natural frequencies and mode shapes to discuss its free vibration, especially when modal analysis is employed. A beam is clamped-free. In this paper we look at the lateral vibration of beams that have step changes in the properties of their cross sections. The frequency equation is derived by Bernoulli-Euler formulation and is sloved by the separation of variable. The parameters of the beam, 'mass and spring stiffness' are defined as nondimensionalized parameters for wide application of the results. According to the change of eigenvalues and mode shape are presented for this beam. The results presented are the eigenvalues and the natural frequencies for the first three modes of vibration. Results show that the parameters have a significant effect on the natural frequency.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.189-190
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• 2006

A patient table considering x-ray transparency, mechanical safety and compact multi-axis moving mechanism has been developed. The goal of medical imaging technology is to keep radiation exposure of patients during x-raying to a minimum. In order to obtain clear pictures at low dose, however, the x-ray table which supports the patient must be sufficiently permeable to radiation to allow good image resolution. The table top is made of low density foam for x-ray transparent effective area and structural aluminum plate to connect moving mechanism under the table, covered with thin carbon fiber. This sandwich construction is very rigid and lightweight, so the table top can handle relatively heavy load comparing to its cantilevered structure which is unavoidable as long as cooperate with C-arm radiography. To verify the design results finite element static analysis and experimental tests have been done. According to the verification the results well satisfy certification guide lines as a medical device.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.582-587
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• 1987

In this paper, a controller design method for the DC motor driving system is described emphasizing the specified degree of accuracy undergoing large time varying disturbances, coulomb friction and arm-load resonance. A feedforward compensation technique using the current controller is proposed, and resulting in the performance improvement as well as the implementational simplicity. A time-weighted quadratic performance index is used in the optimization of the controller, which is a salient way of obtaining better closed-loop performance in a simple manner. Computer simulations are also given to show the usefulness of the proposed techniques.

• 한국음향학회지
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• 제36권6호
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• pp.425-435
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• 2017

본 논문에서는 다중 코어 ARM 프로세서의 NEON SIMD(Single Instruction Multiple Data) 병렬 명령어 및 다중 코어 병렬화를 통하여 심층 신경망의 피드포워드 네트워크 연산을 최적화하는 방안을 제시하였다. SIMD 병렬 명령어를 이용한 최적화의 경우에는 단계 별 최적화 과정에서의 속도 향상과 정밀도를 제시 하였다. 단일 코어 상에서 SIMD 병렬 명령어를 이용하여 구현된 결과는 C 컴파일러를 이용한 구현보다 2.6배의 속도 향상을 얻을 수 있었다. 또한 단일 코어 상에서 최적화된 코드를 다중 코어로 병렬화함으로써 5.7배~7.7배의 속도 향상을 얻을 수 있었다. 이상의 결과를 통하여 이동형 단말기에서도 연산량이 많은 심층 신경망 기술을 활용할 수 있는 가능성을 확인하였다.

• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.853-858
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• 2016

Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs. To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.

• 정보과학회 컴퓨팅의 실제 논문지
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• 제21권3호
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• pp.173-182
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• 2015

다양한 산업 자동화 분야에 활용되고 있는 모션 제어 시스템의 핵심 요소인 모션 제어기는 모션 명령의 전송의 주기성과 각 모터 드라이브 간 동작시점의 편차 최소화 등 실시간 성능 요구사항을 가진다. 이러한 요구사항을 만족시키기 위해 모션 제어기는 전통적으로 하드웨어 중심의 전용기 형태로 구현되어 왔으나 시스템 간 호환성과 확장성의 한계로 소프트웨어 중심의 범용 모션 제어기로 대체되는 추세이다. 한편 최근에는 저비용, 고성능의 범용 임베디드 플랫폼을 이용한 모션 제어기에 대한 관심도 커지고 있다. 본 논문에서는 고정밀 모션 제어 응용을 위해 ARM 기반 범용 임베디드 보드 상에서 Xenomai 기반 임베디드 제어기를 오픈소스 소프트웨어로 구현한 결과를 제시한다. 구현된 임베디드 제어기의 성능 평가를 위해 실제 응용 상황에서 측정 실험을 수행하였으며, 실험 결과 구현된 제어기는 드라이브 3개를 2 ms 제어주기로 동시 구동하는 환경에서도 안정적인 성능을 보임을 알 수 있었다.

• 생물환경조절학회지
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• 제23권1호
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• pp.26-30
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• 2014

본 연구에서는 과수의 형태, 거리에 따라 약대가 항상 적정 살포 거리를 유지하며 작업을 진행할 수 있도록 초음파 센서의 신호를 실시간으로 받아 약대를 제어하였고, 또한 약대의 보호를 위하여 진행 방향에 장애물이 존재할 경우 회피할 수 있도록 프로그래밍 하였다. 제작된 시스템으로 현장에서 비 자동제어 상태와 자동제어 상태로 실험을 수행하였다. 실험은 과수의 기둥과 잎 부위에 감수지를 일정간격으로 설치하고 시스템을 이용하여 분사한 후 감수지의 영상을 스캔하여 영상처리를 통해 분석하는 방법으로 이루어졌다. 상 방향 분사 실험에서는 시스템과 대상의 거리가 0.9m~1.1m로 설정해둔 적정거리를 벗어나지 않았기 때문에 비 자동제어와 자동제어 상태 모두 양호한 결과를 보였다. 하지만 측 방향 분사 실험에서는 비 자동제어 시 우측 열은 98.09%의 분사율을 보였으나 좌측 열은 69.25%로 낮게 나타났다. 이는 실험이 수행된 배 과원의 경우 과수의 좌측 열이 수평하게 식재되어 있지 않았기 때문으로 비자동제어 상태에서는 좌측열의 과수에 분사되는 양이 줄어들었으나 자동제어 상태에서는 좌, 우측열의 과수에 분사되는 양이 각각 92.66%, 94.64%로 균일하게 나타났다. 시스템의 제어 속도를 측정하기 위하여 방향 별 약대의 속도를 측정하였고 각각의 속도는 수직방향 100mm/s, 수평 방향 100mm/s, 각 변화 3o/s로 측정되었다. 초기 목적했던 바와 같이 과수의 형태, 거리에 따라 약대가 적정 거리를 유지하며 작업을 진행함으로 인해서 균일한 살포량을 유지 할 수 있음을 확인하였다.

• 한국정밀공학회지
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• 제29권4호
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• pp.461-468
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• 2012

Silo is a warehouse for storing granular materials such as grain, cement, petroleum compound and coal. When compared to other warehouses, the silo can use space efficiently. The coal silo are consists of silo, tunnel and extractor. Of these, there are not sufficient study and design data on tunnel. It depends heavily upon trial and error method by field engineers with several years of experience. Recently, silos are constructed with a large size, and tunnel becomes to be in danger of severe cracking and collapse by a huge load of coal. So it is necessary to analyze structural safety for tunnel. In this study, the problems of the tunnel are analyzed by field data, and reinforcement of structural weak area using FE analysis has been carried out to design the tunnel satisfying structural safety. From FE Analysis, the reinforced model which does not exceed the yield strength of the material has been proposed.

• 한국정밀공학회지
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• 제24권7호
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• pp.120-125
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• 2007

Analysis of elders' behavioral characteristic during showering provides important fundamental data when developing an automatic showering system. We recorded showering behavior of 37 elders' at the front, back, left and right view using four CCTV cameras. The photographic data were analyzed by counting the frequencies of body scrub and identifying zones where hands could reach. And we measured their body sizes, and conducted questionnaire of showering for 302 peoples. Analysis was done according to the analysis criteria established. The human body was divided into 14 zones from a body, and the numbers of body scrub for each zone were counted. The average total numbers of body scrub were 170.8 excluding the head, the face and the neck. The average numbers of body scrub with right hand were 70.2, left hand were 88.2, and both hands were 81.8. The percentages of body scrub frequencies were 16.3% (breast), 12.2%(crotch), 8.8% (abdomen), 7.5% (waist), 8.8% (shoulder), 7% (hips), 0.4% (back), 15.2% (arm), and 23.9% (leg). Elders scrubbed the breast, crotch and abdomen more frequently than the back and hips. According to the video analysis and questionnaire results, the distribution of shower heads (or nozzles) at the front side should be arranged at the ratio of 40% of the trunk(breast, shoulders, abdomen), 20% of the thighs, the calves, and the crotch, respectively. The distribution of shower heads (or nozzles) of the back side were arranged at the ratio of 20% of the waist and the arms, 20% of the back, the thighs, the calves, and the hip, respectively.